The misfiring engine probably resulted in the car running rich. A large amount of unburnt fuel would be picked up by the O2 sensor and warn you that the cats will basically burn up if you keep driving very rich.
You can drive it to a dealer if the misfire clears itself after the car warms up but if the car is running very rough even after warming up for a few minutes it might be a good idea to tow it. Cats are not cheap.
Straight lines are for fast cars...turns are for fast drivers
'04 M3 - track
'06 650i Cab - daily driver
'02 Highlander - kid hauler
'01 330Ci - winter beater